We employ the raw point clouds as the input to verify the performance of competing methods. Since NDD is a global descriptor, the performance of our approach is compared to other global descriptors using a 3D point cloud. We compare with Scan Contexthttps://github.com/irapkaist/scancontext (SC)[1]}, Intensity Scan Contexthttps://github.com/wh200720041/iscloam (ISC)[2]}, LiDAR Irishttps://github.com/JoestarK/LiDAR-Iris[3]}, and M2DPhttps://github.com/LiHeUA/M2DP[4]}.
